Haptic feedback for button and scrolling action simulation in touch input devices

ABSTRACT

A planar touch control is used to provide input to a computer and haptic feedback is provided thereto. A touch control includes a touch input device with a planar touch surface that inputs a position signal to a processor associated with the computer based on a location of user implemented contact on the touch surface. The computer can position or modify a cursor or image in a displayed graphical environment based at least in part on the position signal, or perform a different function. At least one actuator is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user via the touch surface.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication Ser. No. 60/616,648 filed Oct. 8, 2004 in the name of thesame inventors and commonly assigned herewith.

This application may be considered to be related to the following priorpatents and patent applications: U.S. patent application Ser. No.10/615,986, filed Jul. 10, 2003, which is, in turn, a continuation ofU.S. patent application Ser. No. 10/213,940, filed Aug. 6, 2002, whichis, in turn, a continuation of U.S. patent application Ser. No.09/487,737, filed Jan. 19, 2000, now U.S. Pat. No. 6,429,846, which is,in turn, a continuation-in-part of U.S. patent application Ser. No.09/467,309, filed Dec. 17, 1999, now U.S. Pat. No. 6,563,487, which is,in turn, a continuation-in-part of U.S. patent application Ser. No.09/156,802, filed Sep. 17, 1998, now U.S. Pat. No. 6,184,868, which is,in turn, a continuation-in-part of U.S. patent application Ser. No.09/103,281, filed Jun. 23, 1998, now U.S. Pat. No. 6,088,019, which is,in turn, a continuation-in-part of U.S. patent application Ser. No.09/253,132, filed Feb. 18, 1999, now U.S. Pat. No. 6,243,078, allcommonly assigned herewith. This application may also be considered tobe related to U.S. patent application Ser. No. 09/917,263, filed Jul.26, 2001, now U.S. Pat. No. 6,822,635 (based on U.S. Provisional PatentApplication Ser. No. 60/274,444, filed Mar. 9, 2001); U.S. patentapplication Ser. No. 10/213,354, filed Aug. 5, 2002, now abandoned; U.S.patent application Ser. No. 10/919,648, filed Aug. 17, 2004, nowpending; U.S. patent application Ser. No. 10/919,798, filed Aug. 17,2004, now pending; PCT/US01/01486, filed Jan. 17, 2001; andPCT/US02/17102, filed Mar. 8, 2002. All of the foregoing U.S. patentsand applications are hereby incorporated herein by reference as if setforth fully herein.

BACKGROUND OF THE INVENTION

The present invention relates generally to the interfacing with computerand mechanical devices by a user, and more particularly to devices usedto interface with computer systems and electronic devices and whichprovide haptic feedback to the user.

Humans interface with electronic and mechanical devices in a variety ofapplications, and the need for a more natural, easy-to-use, andinformative interface is a constant concern. In the context of thepresent invention, humans interface with computer devices for a varietyof applications. One such application is interacting withcomputer-generated environments such as are found in, for example,games, simulations, and application programs.

In some interface devices, force feedback or tactile feedback is alsoprovided to the user, collectively known herein as “haptic feedback.”For example, haptic versions of joysticks, mice, game pads, steeringwheels, or other types of devices can output forces to the user based onevents or interactions occurring within the computer-generatedenvironment, such as a graphical environment found in a game, simulationor other application program.

In portable computer or electronic devices, such as laptop computers,moveable mouse-type position encoding input device often require toolarge a workspace to be practical. As a result, more compact devicessuch as trackballs are often used. A more popular device for portablecomputers are “touchpads,” which are usually embodied as smallrectangular, planar pads provided near the keyboard of the computer.Touchscreens are also used and becoming more popular. Touchpads do notincorporate an integral display device—touchscreens do. Such touch inputdevices sense the location of a pointing object (such as a user's fingeror an input stylus) by any of a variety of sensing technologies, such ascapacitive sensors, infrared light beams, pressure sensors that detectpressure applied to the touch input device, and the like. In a commonapplication the user contacts the touch input device with a fingertipand moves his or her finger on the surface of the control to move acursor displayed in the graphical environment or to select a displayedelement. In other applications, a stylus may be used instead of afinger.

One problem with existing touch input devices is that there is no hapticfeedback provided to the user. The user of a touchpad is therefore notable to experience haptic sensations that assist and inform the user oftargeting and other control tasks within the graphical environment. Thetouch input devices of the prior art also cannot take advantage ofexisting haptic-enabled software run on the portable computer.

SUMMARY OF THE INVENTION

The present invention is directed to a haptic feedback planar touchinput device used to provide input to a computer system. The touch inputdevice can be a touchpad provided on a portable computer, or it can be atouch screen found on a variety of devices, or it may be implementedwith similar input devices. The haptic sensations output on the touchinput device enhance interactions and manipulations in a displayedgraphical environment or when using the touch input device to control anelectronic device.

More specifically, the present invention relates to a haptic feedbacktouch input device for inputting signals to a computer and foroutputting forces to a user of the touch input device. The touch inputdevice includes an approximately planar (planar or near-planar) touchsurface operative to input a position signal to a processor of saidcomputer based on a location of user contact on the touch surface. Theposition signal may be used in a number of ways, for example, it may beused to position a cursor in a graphical environment displayed on adisplay device based at least in part on the position signal. It may beused to rotate, reposition, enlarge and/or shrink an image of an objectdisplayed on a display device based at least in part on the positionsignal. It may be used to provide other desired inputs to a computingdevice. These inputs may include scroll-inputs causing text or displayedimages to move up, down, right or left, to rotate, or to be made largeror smaller in the graphical environment. At least one actuator is alsocoupled to the touch input device and outputs a force on the touch inputdevice to provide a haptic sensation to the user contacting the touchsurface. The actuator outputs the force based on force informationoutput by the processor to the actuator. Most touch input devices alsowill include an ability to measure the relative pressure applied to thetouch input device while touching it and that relative pressure may alsobe used for control and may be used at least in part to create hapticoutput to the user.

The touch input device can be a touchpad separate from a display screenof the computer, or can be included in a display screen of the computeras a touch screen. The touch input device can be integrated in a housingof the computer or handheld device, or provided in a housing that isseparate from the computer. The user contacts the touch surface with afinger, a stylus, or other object. The actuator can include apiezo-electric actuator, a voice coil actuator, a pager motor, asolenoid, or other type of actuator. In one embodiment, the actuator iscoupled between the touch input device and a grounded surface. Inanother embodiment, the actuator is coupled to an inertial mass. Theactuator may be coupled to cause relative movement between a displayscreen and a transparent touch input panel disposed over the displayscreen in a touch screen device. A touch device microprocessor which maybe separate from the main processor of the computer can receive forceinformation from the host computer and provide control signals based onthe force information to control the actuator.

The haptic sensations, such as a pulse, vibration, or spatial texture,may be output in accordance with an interaction between a usercontrolled location and a graphical object in the graphical environment.The touch input device can include multiple different regions, where atleast one of the regions provides the position signal and at least oneother region provides a signal that is used by the computer to control adifferent function, such as rate control function of a value or a buttonpress. Different regions and borders between regions can be associatedwith different haptic sensations. Alternatively, rate control may beestablished through a magnitude of the touch force applied by the user.For example, more force could be used to increase the rate input andless force could be used to decrease it.

The present invention advantageously provides haptic feedback to aplanar touch control device of a computer, such as a touchpad or touchscreen. The haptic feedback can assist and inform the user ofinteractions and events within a graphical user interface or otherenvironment and ease cursor targeting tasks. Furthermore, the inventionallows portable computer devices having such touch controls to takeadvantage of existing haptic feedback enabled software. The haptic touchdevices disclosed herein may also be produced so that they areinexpensive, compact and consume low power, allowing them to be easilyincorporated into a wide variety of portable and desktop computers andelectronic devices.

These and other advantages of the present invention will become apparentto those skilled in the art upon a reading of the followingspecification of the invention and a study of the several figures of thedrawing.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated into and constitute apart of this specification, illustrate one or more embodiments of thepresent invention and, together with the detailed description, serve toexplain the principles and implementations of the invention.

In the drawings:

FIG. 1 is a perspective view of a haptic touchpad of the presentinvention;

FIG. 2 is a perspective view of a remote control device including thetouchpad of the present invention;

FIG. 3 is a perspective view of a first embodiment of the touchpad ofthe present invention including one or more actuators coupled to theunderside of the touchpad;

FIG. 4 is a side elevational view of a first embodiment of the presentinvention in which a piezo-electric actuator is directly coupled to thetouchpad of the present invention;

FIG. 5 is a side elevational view of a second embodiment of the touchpadof the present invention including a linear actuator;

FIG. 6 is a side elevational view of a third embodiment of the touchpadof the present invention having an inertial mass;

FIG. 7 is a top plan view of an example of a touchpad of the presentinvention having different control regions;

FIGS. 8A and 8B are top plan and side cross sectional views,respectively, of a touch screen embodiment of the present invention;

FIG. 9 is a plot of force versus position illustrating a force profiletypical of a conventional snap-type button;

FIG. 10 is a plot of push button force versus push button displacementillustrating hysteresis in a typical push button;

FIG. 11 is a plot illustrating a combined sawtooth waveform;

FIG. 12 is a plot illustrating a single pulse waveform in one directionon press down (left plot) followed by a single pulse in the oppositedirection on press up (right plot);

FIG. 13 is a plot of a sawtooth type of single discontinuity waveform;

FIG. 14 is a diagram of a screen image showing a scroll bar;

FIG. 15 is a flow diagram showing a method for simulating a button pressusing haptic feedback imparted through a touch surface;

FIG. 16 is a flow diagram showing a method for providing haptic feedbackrepresentative of the extent to which an action triggered bymanipulation of a cursor relative to a graphical object displayed on adisplay screen is occurring;

FIG. 17. is a perspective view of video poker game using a slider switchhaving haptic feedback;

FIG. 18 is a flow diagram showing a method for providing haptic feedbackin response to a manipulation of a graphical object;

FIG. 19 is a flow diagram showing a method for providing haptic feedbackrepresentative of the relative location of a cursor and a graphicalobject displayed on a display screen;

FIG. 20 is an elevational diagram illustrating an actuator for providinghaptic effects in accordance with one embodiment of the presentinvention;

FIG. 21 is an elevational diagram illustrating alternativeelectromagnetic components for generating attractive magnetic force inan actuator in accordance with one embodiment of the present invention;

FIG. 22 is an elevational diagram of an alternative embodiment of anactuator in accordance with the present invention;

FIG. 23 is an elevational diagram of another embodiment of an actuatorin accordance with the present invention;

FIG. 24 is an elevational diagram of a system employing an actuator inaccordance with one embodiment of the present invention;

FIG. 25 is an elevational diagram illustrating a second equilibriumposition of an actuator in accordance with one embodiment of the presentinvention;

FIG. 26 is a front perspective diagram of a system configured with aplurality of actuators in accordance with one embodiment of the presentinvention;

FIG. 27 is a flow diagram illustrating a method for generating hapticeffects in accordance with one embodiment of the present invention;

FIG. 28 is a block diagram illustrating a system having an actuator inaccordance with one embodiment of the present invention; and

FIGS. 29, 30 and 31 are diagrams illustrating areas of a touch inputdevice which may be used for particular inputs.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

Embodiments of the present invention are described herein in the contextof a system of touch input devices with haptic feedback. Sometimes theseare referred to herein as touch control devices. Those of ordinary skillin the art will realize that the following detailed description of thepresent invention is illustrative only and is not intended to be in anyway limiting. Other embodiments of the present invention will readilysuggest themselves to such skilled persons having the benefit of thisdisclosure. Reference will now be made in detail to implementations ofthe present invention as illustrated in the accompanying drawings. Thesame reference indicators will be used throughout the drawings and thefollowing detailed description to refer to the same or like parts.

In the interest of clarity, not all of the routine features of theimplementations described herein are shown and described. It will, ofcourse, be appreciated that in the development of any such actualimplementation, numerous implementation-specific decisions must be madein order to achieve the developer's specific goals, such as compliancewith application- and business-related constraints, and that thesespecific goals will vary from one implementation to another and from onedeveloper to another. Moreover, it will be appreciated that such adevelopment effort might be complex and time-consuming, but wouldnevertheless be a routine undertaking of engineering for those ofordinary skill in the art having the benefit of this disclosure.

In accordance with the present invention, the components, process steps,and/or data structures may be implemented using various types ofoperating systems, computing platforms, computer programs, and/orgeneral purpose machines. In addition, those of ordinary skill in theart will recognize that devices of a less general purpose nature, suchas hardwired devices, field programmable gate arrays (FPGAs),application specific integrated circuits (ASICs), or the like, may alsobe used without departing from the scope and spirit of the inventiveconcepts disclosed herein.

FIG. 1 is a perspective view of a portable computer 10 including ahaptic touchpad of the present invention. Computer 10 is preferably aportable or “laptop” computer that can be carried or otherwisetransported by the user and may be powered by batteries or otherportable energy source in addition to other more stationary powersources. Computer 10 preferably runs one or more host applicationprograms with which a user is interacting via peripherals. Some displaydevices 12 for computers are display-only devices—in other cases thedisplay devices incorporate a touch-sensitive surface and may themselvesbe used for touch input. Such screens are frequently seen in kiosks,automatic teller machines, automated vending machines of various types,and the like.

Computer 10 may include the various input and output devices as shown,including a display device 12 for outputting graphical images to theuser, a keyboard 14 for providing character or toggle input from theuser to the computer, and a touchpad 16 of the present invention.Display device 12 can be any of a variety of types of display devices;flat-panel displays are most common on portable computers. Displaydevice 12 can display a graphical environment 18 based on applicationprograms and/or operating systems that are running, such as a graphicaluser interface (GUI), that can include a cursor 20 that can be moved byuser input, as well as windows 22, icons 24, and other graphical objectswell known in GUI environments. Other devices may also be incorporatedor coupled to the computer 10, such as storage devices (hard disk drive,DVD-ROM drive, and the like), network server or clients, gamecontrollers, and the like. In alternate embodiments, the computer 10 cantake a wide variety of forms, including computing devices that rest on atabletop or other surface, stand-up arcade game machines, automaticteller machines (ATMs), automatic vending machines, other portabledevices or devices worn on the person, handheld or used with a singlehand of the user, and the like. For example, host computer 10 can be avideo game console, personal computer, workstation, a television “settop box” or a “network computer”, or other computing or electronicdevice.

Touchpad device 16 of the present invention preferably appearsexternally to be similar to the touchpads of the prior art. Pad 16includes a planar, rectangular smooth surface that can be positionedbelow the keyboard 14 on the housing of the computer 10, as shown, ormay be positioned at other areas of the housing. When the user operatesthe computer 10, the user may conveniently place a fingertip or otherobject on the touchpad 16 and move the fingertip to correspondingly movecursor 20 in the graphical environment 18.

In operation, the touchpad 16 inputs coordinate data to the mainmicroprocessor(s) of the computer 10 based on the sensed location of anobject on (or near) the touchpad. As with many touchpads of the priorart, touchpad 16 can be capacitive, resistive, or use any appropriatetype of sensing. Some existing touchpad embodiments are disclosed, forexample, in U.S. Pat. Nos. 5,521,336 and 5,943,044. Capacitive touchpadstypically sense the location of an object on or near the surface of thetouchpad based on capacitive coupling between capacitors in the touchpadand the object. Resistive touchpads are typically pressure-sensitive,detecting the pressure of a finger, stylus, or other object against thepad, where the pressure causes conductive layers, traces, switches, andthe like in the pad to electrically connect. Some resistive or othertypes of touchpads can detect the amount of pressure applied by the userand can use the degree of pressure for proportional or variable input tothe computer 10. Resistive touchpads typically are at least partiallydeformable, so that when a pressure is applied to a particular location,the conductors at that location are brought into electrical contact.Such deformability can be useful in the present invention since it canpotentially amplify the magnitude of output forces such as pulses orvibrations on the touchpad as used for haptic output in the presentinvention. Forces can be amplified if a tuned compliant suspension isprovided between an actuator and the object that is moved, as describedin U.S. Pat. No. 6,680,729, which is hereby incorporated herein byreference as if set forth fully herein. Capacitive touchpads and othertypes of touchpads that do not require significant contact pressure maybe better suited for the present invention in many embodiments, sinceexcessive pressure on the touchpad may in some cases interfere with themotion of the touchpad for haptic feedback. Other types of sensingtechnologies can also be used in the touchpad. Herein, the term“touchpad” preferably includes the surface of the touchpad 16 as well asany sensing apparatus (including software and/or firmware associatedtherewith) included in the touchpad unit.

Touchpad 16 preferably operates similarly to existing touchpads, wherethe speed of the fingertip on the touchpad correlates to the distancethat a cursor (for example) is moved in the graphical environment. Forexample, if the user moves his or her finger quickly across the pad, thecursor is moved a greater distance than if the user moves the fingertipmore slowly. If the user's finger reaches the edge of the touchpadbefore the cursor reaches a desired destination in that direction, thenthe user can simply move his or her finger off the touchpad, repositionthe finger away from the edge, and continue moving the cursor. This isan “indexing” function similar to lifting a mouse off a surface tochange the offset between mouse position and cursor. Furthermore, manytouchpads can be provided with particular regions that are each assignedto particular functions that can be unrelated to cursor positioning.Such an embodiment is described in greater detail below with respect toFIG. 7. In some embodiments the touchpad 16 may also allow a user to“tap” the touchpad (rapidly touch and remove the object from the pad) ina particular location to provide a command. For example, the user cantap or “double tap” the pad with a finger while the controlled cursor isover an icon to select that icon.

In the present invention, the touch input device (touchpad 16 or touchscreen) is provided with the ability to output haptic feedback such astactile sensations to the user who is physically contacting the touchinput device. Various embodiments detailing the structure of the hapticfeedback touch input device are described in greater detail below.Preferably, the forces output on the touch input device are linear (orapproximately linear (near-linear) ) and oriented along the z-axis,perpendicular or approximately (near) perpendicular to the surface ofthe touch input device and a surface of computer 10. In a differentembodiment, forces can be applied to the touch input device to causeside-to-side (e.g., x-y) motion of the touch input device in the planeof its surface in addition to or instead of z-axis motion, although suchmotion is not presently preferred.

Using one or more actuators coupled to the touch input device, a varietyof haptic sensations can be output to the user who is contacting thetouch input device. For example, jolts, vibrations (varying or constantamplitude), and textures can be output. Forces output on the touch inputdevice can be at least in part based on the location of the finger onthe touch input device or the state of a controlled object in thegraphical environment of the host computer 10, and/or independent offinger position or object state. Such forces output on the touch inputdevice are considered “computer-controlled” since a microprocessor orother electronic controller is controlling the magnitude and/ordirection of the force output of the actuator(s) using electronicsignals. Preferably, the entire touch input device is provided withhaptic sensations as a single unitary member; in other embodiments,individually-moving portions of the pad can each be provided with itsown haptic feedback actuator and related transmissions so that hapticsensations can be provided for only a particular portion. For example,some embodiments may include a touch input device having differentportions that may be flexed or otherwise moved with respect to otherportions of the touch input device.

In other embodiments, the touch input device can be provided in aseparate housing that is electrically connected to a port of thecomputer 10 via wired or wireless means and which receives forceinformation from and sends position information to the computer 10. Forexample, a number of well-known bus standards such as Universal SerialBus (USB), Firewire (IEEE 1394), or a standard serial bus (RS-232) canconnect such a touch input device to the computer 10. In such anembodiment, the computer 10 can be any desktop or stationary computer ordevice and need not be a portable device.

One or more buttons 26 can also be provided on the housing of thecomputer 10 to be used in conjunction with the touch input device. Theuser's hands have easy access to the buttons, each of which may bepressed by the user to provide a distinct input signal to the hostcomputer 12. In some cases, each button 26 corresponds to a similarbutton found on a more conventional mouse input device, so that a leftbutton can be used to select a graphical object (click or double click),a right button can bring up a context menu, and the like. In other casesa larger plurality of context-sensitive physical buttons may be providedabout the periphery of the display with the current indicated functionassociated with a particular button displayed on the display. In someembodiments, one or more of the buttons 26 can be provided with tactilefeedback as described in U.S. Pat. Nos. 6,184,868 and 6,563,487. Otherfeatures of these disclosures may also be used with the presentinvention.

Furthermore, in some embodiments, one or more moveable portions 28 ofthe housing of the computer device 10 can be included which is contactedby the user when the user operates the touchpad 16 and which portions 28can provide haptic feedback to the user. Structures having a moveableportion of a housing for haptic feedback are described in U.S. Pat. Nos.6,184,868 and 6,088,019. Thus, both the housing can provide hapticfeedback (e.g., through the use of an eccentric rotating mass on a motorcoupled to the housing) and the touchpad 16 can provide separate hapticfeedback, and the touch screen assembly can provide haptic feedback.This allows the host to control multiple different tactile sensationssimultaneously to the user; for example, a vibration of a low frequencycan be conveyed through the housing to the user and a higher frequencyvibration can be conveyed to the user through the touchpad 16. Eachother button or other control provided with haptic feedback can alsoprovide tactile feedback independently from the other controls, ifdesired.

The host application program(s) and/or operating system preferablydisplays graphical images of the environment on display device 12 (whichmay, in one embodiment, be a touch screen). The software and environmentrunning on the host computer 12 may be of a wide variety. For example,the host application program can be a word processor, spreadsheet, videoor computer game, drawing program, operating system, graphical userinterface, simulation, Web page or browser that implements HTML or VRMLinstructions, scientific analysis program, virtual reality trainingprogram or application, JAVA applet or other application program thatutilizes input from the touch input device and outputs force feedbackcommands to the touch input device. For example, many games and otherapplication programs include force feedback functionality and maycommunicate with the touch input device using standard protocols and/ordrivers such as I-Force®, FEELit®, or Touchsense™ available fromImmersion Corporation of San Jose, Calif.

The touch input device can include circuitry necessary to report controlsignals to the microprocessor of the host computer 10 and to processcommand signals from the host's microprocessor. For example, appropriatesensors (and related circuitry) are used to report the position of theuser's finger on the touchpad 16. The touchpad device also includescircuitry that receives signals from the host and outputs tactilesensations in accordance with the host signals using one or moreactuators. In some embodiments, a separate, local microprocessor can beprovided for the touchpad 16 to both report touchpad sensor data to thehost and/or to carry out force commands received from the host, suchcommands including, for example, the type of haptic sensation andparameters describing the commanded haptic sensation. Alternatively, thetouchpad microprocessor can simply pass streamed data from the mainprocessor to the actuators. The term “force information” can includeboth commands/parameters and streamed data. The touchpad microprocessorcan implement haptic sensations independently after receiving a hostcommand by controlling the touchpad actuators; or, the host processorcan maintain a greater degree of control over the haptic sensations bycontrolling the actuators more directly. In other embodiments, logiccircuitry such as state machines provided for the touchpad 16 can handlehaptic sensations as directed by the host main processor. Architecturesand control methods that can be used for reading sensor signals andproviding haptic feedback for a device are described in greater detail,for example, in U.S. Pat. Nos. 5,734,373; 6,639,581 and 6,411,276, allof which are hereby incorporated herein by reference as if set forthfully herein. Similarly, touchscreens may be used in much the samemanner as touchpads.

FIG. 2 is a perspective view of another embodiment of a device which caninclude an active touchpad 16 in accordance with the present invention.The device can be a handheld remote control device 30, which the usergrasps in one hand and manipulates controls to access the functions ofan electronic device or appliance remotely by a user (such as atelevision, video cassette recorder or DVD player, audio/video receiver,Internet or network computer connected to a television, and the like).For example, several buttons 32 can be included on the remote controldevice 30 to manipulate functions of the controlled apparatus. Atouchpad 16 can also be provided to allow the user to provide moresophisticated directional input. For example, a controlled apparatus mayhave a selection screen in which a cursor or other object displayedthereon may be moved, and the touchpad 16 can be manipulated to controlthe display of the object. The touchpad 16 includes the ability tooutput haptic sensations to the user as described herein, based on acontrolled value or event. For example, a volume level passing amid-point or reaching a maximum level can cause a pulse to be output tothe touchpad and to the user.

In one application, the controlled apparatus can be a computer system orother computing device which displays a graphical user interface and/orweb pages accessed over a network such as the Internet. The user cancontrol the direction of a cursor or other graphical object by moving afinger (or other object such as a stylus) on the touchpad 16. The cursoror other object can be used to select and/or manipulate icons, windows,menu items, graphical buttons, slider bars, scroll bars, or othergraphical objects in a graphical user interface or desktop interface.The cursor or other object can also be used to select and/or manipulategraphical objects on a web page, such as links, images, buttons, and thelike. Other force sensations associated with graphical objects aredescribed below with reference to FIG. 7.

FIG. 3 is a perspective view of a first embodiment 40 of a touchpad 16of the present invention for providing haptic feedback to the user. Inthis embodiment, one or more piezoelectric actuators 42 are coupled tothe underside of the touchpad 16. The piezoelectric actuator 42 isdriven by suitable electronics, as is well known to those skilled in theart. In one embodiment, a single piezoelectric actuator 42 is positionedat or near the center of the touchpad 16, or off to one side if spaceconstraints of the housing require such a position. In otherembodiments, multiple piezoelectric actuators 42 can be positioned atdifferent areas of the touchpad; the dashed lines show oneconfiguration, where an actuator 42 is placed at each corner of the pad16 and at the center of the pad.

The piezoelectric actuators 42 can each output a small pulse, vibration,or texture sensation on the touchpad 16 and to the user if the user iscontacting the touchpad. The entire touchpad 16 is preferably moved withthe forces output by actuator(s) 42. Preferably, the forces output onthe touchpad are linear (or approximately linear) and along the z-axis,approximately perpendicular to the surface of the touchpad 16 and thetop surface of computer 10. In a different embodiment, as mentionedabove, forces can be applied to the touchpad 16 to cause side-to-side(e.g., x-y) motion of the pad in the plane of its surface in addition toor instead of z-axis motion. For example, one linear actuator canprovide motion for the x-axis, and a second linear actuator can providemotion for the y-axis and/or the x-axis.

The frequency of a vibration output by an actuator 42 can be varied byproviding different control signals to an actuator 42. Furthermore, themagnitude of a pulse or vibration can be controlled based on the appliedcontrol signal. If multiple actuators 42 are provided, a strongervibration can be imparted on the touchpad by activating two or moreactuators simultaneously. Furthermore, if an actuator is positioned atan extreme end of the touchpad and is the only actuator that isactivated, the user may experience a stronger vibration on the side ofthe touchpad having the actuator than on the opposite side of thetouchpad. Different magnitudes and localized effects can be obtained byactivating some but not all of the actuators. Since the tip of a user'sfinger that is touching the pad is fairly sensitive, the output forcesdo not have to be of a high magnitude for the haptic sensation to beeffective and compelling.

Besides using a finger to contact the touchpad, the user may also holdother objects that directly contact the touchpad. Any haptic sensationsoutput on the pad can be transmitted through the held object to theuser's hand. For example, the user can hold a stylus having a point thatcontacts the touchpad 16 more precisely than a finger. Other objects mayalso be used. In some embodiments, specialized objects can be used toenhance the haptic sensations. For example, a stylus or other objecthaving a flexible portion or compliance may be able to magnify at leastsome of the touchpad haptic sensations as experienced by the user.

The piezo-electric actuators 42 have several advantages for the touchpad16. These actuators can be made very thin and small, allowing their usein compact housings that are typical for portable electronic devices.They also require very low power, and are thus suitable for devices withlimited power (e.g., powered by batteries). In some embodimentsdescribed herein, power for the actuators can be drawn off a busconnecting the computer to the touchpad (or touch screen). For example,if the touchpad 16 is provided in a separate housing, a Universal SerialBus can connect the pad to the computer and provide power from thecomputer to the pad as well as data (e.g., streaming force data, forcecommands, and the like).

FIG. 4 is a side elevational view of the embodiment 40 of the touchpad16 of the present invention as shown in FIG. 3. Touchpad 16 is directlycoupled to a grounded piezo-electric actuator 42 which operates toproduce a force on the touchpad 16 when an electrical signal is input tothe actuator. Typically, a piezo-electric actuator includes two layerswhich can move relative to each other when a current is applied to theactuator; here, the grounded portion of the actuator remains stationarywith respect to the surrounding housing 41 while the moving portion ofthe actuator and the touchpad move with respect to the housing 41. Theoperation of piezo-electric actuators to output force based on an inputelectrical signal is well known to those skilled the art.

The touchpad 16 can be coupled only to the actuator 42, or can beadditionally coupled to the housing of the computer device at otherlocations besides the actuators 42. Preferably the other couplings arecompliant connections, using a material or element such as a spring orfoam. If such connections are not made compliant, then the touchpad 16itself preferably has some compliance to allow portions of the pad tomove in response to actuator forces and to convey the haptic sensationsto the user more effectively.

Since the touchpad 16 is directly coupled to the actuator 42, anyproduced forces are directly applied to the touchpad 16. The electricsignal preferably is obtained from a microprocessor and any circuitryrequired to convert the microprocessor signal to an appropriate signalfor use with the actuator 42.

FIG. 5 is a side elevational view of another embodiment 50 of thepresent invention, in which the touchpad 16 is positioned on one or moresprings 52. The springs 52 couple the touchpad 16 to the rigid housingof the computer 10 and allow the touchpad 16 to be moved along thez-axis 56. Only a very small range of motion is required to produceeffective pulses (jolts) or vibrations on the pad 16. Stops (not shown)can be positioned to limit the travel of the touchpad 16 to a desiredrange along the z-axis.

An actuator 54 is also coupled to the touchpad 16 to impart forces onthe touchpad and cause the touchpad 16 to move along the z-axis. In thepresent embodiment, actuator 54 is a linear voice coil actuator, wherethe moving portion (bobbin) of the actuator is directly coupled to thetouchpad 16. The actuator 54 is grounded to the computer 10 housing andoutputs a linear force on the touchpad 16 and thus drives the touchpadalong the z-axis. A short pulse or jolt can be output, or the movingportion of the actuator can be oscillated to provide a vibration havinga particular desired frequency. The springs 52 cause the touchpad 16 toreturn to a rest position after a force from the actuator causes thetouchpad to move up or down. The springs can also provide a compliantsuspension for the touchpad 16 and allow forces output by the actuator54 to be amplified as explained above. Different types of springelements can be used in other embodiments to couple the touchpad 16 tothe rigid housing, such as leaf springs, foam, flexures, or othercompliant materials.

In some embodiments, the user is able to push the touchpad 16 along thez-axis to provide additional input to the computer 10. For example, asensor can be used to detect the position of the touchpad 16 along thez-axis, such as an optical sensor, magnetic sensor, Polhemus sensor, andthe like. The position on the z-axis can be used to provide proportionalinput to the computer, for example. In addition, other types of forcescan be output along the z-axis, such as spring forces, damping forces,inertial forces, and other position-based forces, as disclosed in U.S.Pat. No. 6,563,487. In addition, 3-D elevations can be simulated in thegraphical environment by moving the pad to different elevations alongthe z-axis. If the pad 16 can be used as an analog input depending onthe distance the entire pad is moved along the z-axis, and/or ifkinesthetic (force) feedback is applied in the z-axis degree of freedom,then a greater range of motion for the pad 16 along the z-axis isdesirable. An elastomeric layer can be provided if the touchpad 16 isable to be pressed by the user to close a switch and provide button orswitch input to the computer 10 (e.g., using contact switches, opticalswitches, or the like). If such z-axis movement of the pad 16 isallowed, it is preferred that the z-axis movement require a relativelylarge amount of force to move the pad at least initially, since suchz-axis movement may not be desired during normal use of the pad by theuser.

The voice coil actuator 54 preferably includes a coil and a magnet,where a current is flowed through the coil and interacts with themagnetic field of the magnet to cause a force on the moving portion ofthe actuator (the coil or the magnet, depending on the implementation),as is well known to those skilled in the art and is described in, forexample, U.S. Pat. No. 6,184,868. Other types of actuators can also beused, such as a standard speaker, an E-core type actuator (as describedin U.S. Pat. No. 6,704,001, which is hereby incorporated herein byreference as if set forth fully herein), a solenoid, a pager motor, a DC(direct current) motor, moving magnet actuator (described for example inU.S. Pat. No. 6,704,001, or other type of actuator. Furthermore, theactuator can be positioned to output linear motion along an axisperpendicular to the z-axis or along another direction different fromthe z-axis (rotary or linear), where a mechanism converts such outputmotion to linear motion along the z-axis as is well known to thoseskilled in the art.

The touchpad 16 can also be integrated with an elastomeric layer and/ora printed circuit board in a sub-assembly, where one or more actuatorsare coupled to the printed circuit board to provide tactile sensationsto the touchpad 16. Helical springs can also be provided to engageelectrical contacts. Or, multiple voice coil actuators can be positionedat different locations under the touchpad 16. These embodiments aredescribed in U.S. Pat. No. 6,563,487. Any of the actuators described inthat copending application can also be used in the present invention.

FIG. 6 is a side elevational view of a third embodiment 60 of the haptictouchpad 16 of the present invention. In this embodiment, the stationaryportion of the actuator is coupled to the touchpad 16, and the movingportion of the actuator is coupled to an inertial mass to provideinertial haptic sensations.

Touchpad 16 can be compliantly mounted to the rigid housing of thecomputer device similarly to the embodiments described above. Forexample, one or more spring elements 62 can be coupled between thetouchpad and the housing. These springs can be helical or leaf springs,a compliant material such as rubber or foam, flexures, and the like.

One or more actuators 64 are coupled to the underside of the touchpad16. In the embodiment of FIG. 6, a piezo-electric actuator is shown. Oneportion 66 of each actuator 64 is coupled to the touchpad 16, and theother portion 68 is coupled to a mass 70. Thus, when the portion 68 ismoved relative to the portion 66, the mass 70 is moved with the portion68. The mass 70 can be any suitable object of the desired weight, suchas plastic or metal material. The mass 70 is moved approximately alongthe z-axis and is not coupled to the housing, allowing free motion. Themotion of the mass 70 along the z-axis causes an inertial force that istransmitted through the actuator 64 to the touchpad 16, and the touchpad16 moves along the z-axis due to the compliant coupling 62. The motionof the touchpad 16 is felt by the user contacting the touchpad 16 as ahaptic sensation.

In different embodiments, other types of actuators can be used. Forexample, a linear voice coil actuator as described for FIG. 5 can beused, in which an inertial mass is coupled to the linear-moving portionof the voice coil actuator. Other actuators can also be used, such assolenoids, pager motors, moving magnet actuators, E-core actuators, andthe like. Many actuators used for inertial haptic sensations aredescribed in copending U.S. Pat. No. 6,211,861, which is herebyincorporated herein by reference as if set forth fully herein.Furthermore, a rotary actuator can be used, where the rotary outputforce is converted to a linear force approximately along the z-axis. Forexample, the rotary force can be converted using a flexure, as describedfor example in U.S. Pat. Nos. 6,693,626 and 6,697,043, both of which arehereby incorporated herein by reference as if set forth fully herein.

In the preferred linear force implementation, the direction or degree offreedom that the force is applied on the touchpad with respect to theinertial mass is important. If a significant component of the force isapplied in the planar workspace of the touchpad (i.e., along the X or Yaxis) with respect to the inertial mass, a short pulse or vibration caninterfere with the user's object motion in one or both of those planardegrees of freedom and thereby impair the user's ability to accuratelyguide a controlled graphical object, such as a cursor, to a giventarget. Since a primary function of the touchpad is accurate targeting,a tactile sensation that distorts or impairs targeting, even mildly, isundesirable. To solve this problem, the touchpad device of the presentinvention applies inertial forces substantially along the Z axis,orthogonal to the planar X and Y axes of the touchpad surface. In such aconfiguration, tactile sensations can be applied at a perceptuallystrong level for the user without impairing the ability to accuratelyposition a user controlled graphical object in the X and Y axes of thescreen. Furthermore, since the tactile sensations are directed in athird degree of freedom relative to the two-dimensional planar workspaceand display screen, jolts or pulses output along the Z axis feel muchmore like three-dimensional bumps or divots to the user that come “out”or go “into” the screen, increasing the realism of the tactilesensations and creating a more compelling interaction. For example, anupwardly-directed pulse that is output when the cursor is moved over awindow border creates the illusion that the user is moving a finger orother object “over” a bump at the window border.

FIG. 7 is a top elevational view of the touchpad 16 of the presentinvention. Touchpad 16 can in some embodiments be used simply as apositioning device, where the entire area of the pad provides cursorcontrol. In other embodiments, different regions of the pad can bedesignated for different functions. In some of these region embodiments,each region can be provided with an actuator located under the region,while other region embodiments may use a single actuator that impartsforces on the entire pad 16. In the embodiment shown, a central cursorcontrol region 70 is used to position the cursor.

The cursor control region 70 of the pad 16 can cause forces to be outputon the pad based on interactions of the controlled cursor with thegraphical environment and/or events in that environment. The user movesa finger or other object within region 70 to correspondingly move thecursor 20. Forces are preferably associated with the interactions of thecursor with displayed graphical objects. For example, a jolt or “pulse”sensation can be output, which is a single impulse of force that quicklyrises to the desired magnitude and then is turned off or quickly decaysback to zero or small magnitude. The touchpad 16 can be jolted in thez-axis to provide the pulse. A vibration sensation can also be output,which is a time-varying force that is typically periodic. The vibrationcan cause the touchpad 16 or portions thereof to oscillate back andforth on the z axis, and can be output by a host or local microprocessorto simulate a particular effect that is occurring in a host application.

Another type of force sensation that can be output on the touchpad 16 isa texture force. This type of force is similar to a pulse force, butdepends on the position of the user's finger on the area of the touchpadand/or on the location of the cursor in the graphical environment. Thus,texture bumps are output depending on whether the cursor has moved overa location of a bump in a graphical object. This type of force isspatially-dependent, i.e., a force is output depending on the locationof the cursor as it moves over a designated textured area; when thecursor is positioned between “bumps” of the texture, no force is output,and when the cursor moves over a bump, a force is output. This can beachieved by host control (e.g., the host sends the pulse signals as thecursor is dragged over the grating). In some embodiments, a separatetouchpad microprocessor can be dedicated for haptic feedback with thetouchpad, and the texture effect and be achieved using local control(e.g., the host sends a high level command with texture parameters andthe sensation is directly controlled by the touchpad processor). Inother cases a texture can be performed by presenting a vibration to auser, the vibration being dependent upon the current velocity of theuser's finger (or other object) on the touchpad. When the finger isstationary, the vibration is deactivated; as the finger is moved faster,the frequency and magnitude of the vibration is increased. Thissensation can be controlled locally by the touchpad processor (ifpresent), or be controlled by the host. Local control by the padprocessor may eliminate communication burden in some embodiments. Otherspatial force sensations can also be output. In addition, any of thedescribed force sensations herein can be output simultaneously orotherwise combined as desired.

Different types of graphical objects can be associated with tactilesensations. Tactile sensations can output on the touchpad 16 based oninteraction between a cursor and a window. For example, a z-axis “bump”or pulse can be output on the touchpad to signal the user of thelocation of the cursor when the cursor is moved over a border of awindow. When the cursor is moved within the window's borders, a textureforce sensation can be output. The texture can be a series of bumps thatare spatially arranged within the area of the window in a predefinedpattern; when the cursor moves over a designated bump area, a bump forceis output on the touchpad. A pulse or bump force can be output when thecursor is moved over a selectable object, such as a link in a displayedweb page or an icon. A vibration can also be output to signify agraphical object which the cursor is currently positioned over.Furthermore, features of a document displaying in a window can also beassociated with force sensations. For example, a pulse can be output onthe touchpad when a page break in a document is scrolled past aparticular area of the window. Page breaks or line breaks in a documentcan similarly be associated with force sensations such as bumps orvibrations.

Furthermore, a menu items in a displayed menu can be selected by theuser after a menu heading or graphical button is selected. Theindividual menu items in the menu can be associated with forces. Forexample, vertical (z-axis) bumps or pulses can be output when the cursoris moved over the border between menu items. The sensations for certainmenu choices can be stronger than others to indicate importance orfrequency of use, i.e., the most used menu choices can be associatedwith higher-magnitude (stronger) pulses than the less used menu choices.Also, currently-disabled menu choices can have a weaker pulse, or nopulse, to indicate that the menu choice is not enabled at that time.Furthermore, when providing tiled menus in which a sub-menu is displayedafter a particular menu element is selected, as in Microsoft Windows™,pulse sensations can be sent when a sub-menu is displayed. This can bevery useful because users may not expect a sub-menu to be displayed whenmoving a cursor on a menu element. Icons can be associated withtextures, pulses, and vibrations similarly to the windows describedabove. Drawing or CAD programs also have many features which can beassociated with similar haptic sensations, such as displayed (orinvisible) grid lines or dots, control points of a drawn object, and thelike.

In other related interactions, when a rate control or scrolling functionis performed with the touchpad (through use of the cursor), a vibrationcan be displayed on the device to indicate that scrolling is in process.When reaching the end of a numerical range that is being adjusted (suchas volume), a pulse can be output to indicate that the end of the rangehas been reached. Pulse sensations can be used to indicate the locationof the “ticks” for discrete values or settings in the adjusted range. Apulse can also be output to inform the user when the center of the rangeis reached. Different strength pulses can also be used, larger strengthindicating the more important ticks. In other instances, strength and/orfrequency of a vibration can be correlated with the adjustment of acontrol to indicate current magnitude of the volume or other adjustedvalue. In other interactions, a vibration sensation can be used toindicate that a control function is active. Furthermore, in some cases auser performs a function, like selection or cutting or pasting adocument, and there is a delay between the button press that commandsthe function and the execution of the function, due to processing delaysor other delays. A pulse sensation can be used to indicate that thefunction (the cut or paste) has been executed.

One specific application of haptic feedback is to provide a realisticemulation of a button press (and release) to the operator, for exampleof a snap button associated with an icon displayed on the touch pad ofthe computer or laptop, or on the touch screen of a similar device. Inthis case, a graphical representation of a button can be displayed onthe touch pad. When that graphical representation is touched and/orpressed, either directly by the operator's finger or indirectly using astylus or similar object, a haptic response is generated by the touchpadwhich simulates the feel of a snap button.

Nearly all buttons, not only snap buttons, have a fixed tactile feeldictated by their mechanical construction. This feel is describable by aforce profile that relates the amount of depression of the button(position) to a force. As an example, a typical snap button would haveforce profile similar to that shown in FIG. 9.

Mechanical buttons provide a click sensation while pressed down and asimilar sensation when released, typically with some hysteresis betweenthe two force profiles, as seen in FIG. 10. Assigning a haptic effect toboth the push down and release touchscreen events allows for betterrecreation of the feel of a mechanical button, especially when theoperator rests his/her finger or the stylus lightly on the surface.

Even when the user removes his fingers, the forces can still be felt.The button up event in the graphical user interface or display istriggered when a pressure threshold is crossed so the user is stillmomentarily touching the touch screen when the button up or releaseeffect is played.

A single effect can be used for both the button down and button upeffects, or different effects can be used to capture some of thehysteresis effects in real mechanical buttons.

In touch screens designed to operate in open-loop control fashion,whether moving from side to side, up and down or out of the plane, shortbursts of periodic signals such as square or sine waves can be used tosimulate the sensation of a button click event. In such waveforms, thediscontinuities, or rapid changes in direction, create a significantsensation to the user. One issue with using this type of periodicsignals is the presence of multiple discontinuities in the waveform. Forexample, a square wave pulse first rapidly moves the touch screen in onedirection, followed by a direction reversal, followed by movement in theoriginal direction. If the waveform is of sufficient duration, this typeof effect result in the user feeling multiple events occurring at eachdirection change. This can be confusing to the user as typically amechanical button has a single event tactilely transmitted when thebutton is pressed down and one upon release.

To realize the single click event of a typical button, a waveform with asingle discontinuity as depicted in FIG. 11 is provided by theinvention. This waveform is symmetric so that the final position of thetouch screen is relatively close to the original position before thewaveform is applied.

Other discontinuity waveforms such as a saw-up and saw-down can be used,(See FIG. 13). This in accordance with an aspect of the invention, thereis provided a method for simulating a button press using haptic feedbackimparted through a touch surface. The method, depicted in FIG. 15,includes sensing a contact with said touch surface (151), and moving(152) the touch surface responsive to the contact in accordance with afirst single-discontinuity waveform.

Another specific application of haptic feedback relates to computergraphical user interfaces (GUIs), as explained with reference to laptopcomputer 10 of FIG. 1. Some buttons displayed in the computer graphicaldisplay 12 are used for scrolling up or scrolling down, such as thescroll bar widget of FIG. 14. The widget is manipulated by moving acursor, for example using touchpad 16, to coincide with the location ofthe widget on the display. When this occurs, an action is triggered, forexample scrolling of the displayed text. It is often difficult tocontrol the scrolling speed to the user's satisfaction. A user will missthe target text because the response is too fast. Conversely, when theresponse is too slow, the scrolling action takes too much time.Corrections can also take time. In accordance with the invention, onbutton-down for example—that is, when the cursor is positioned over thescroll button or widget or similar graphical object, a haptic effect canbe provided repetitively commensurately with the scrolling action. Thefrequency of the repetition can be varied according the speed of thescroll, for example, fast pop or fast scrolling.

More generally, any action whose extent depends on manipulation of acursor can be tied to haptic feedback which similarly varies in extent.Thus in accordance with a further aspect of the invention illustrated inFIG. 16, there is provided a method for providing haptic feedbackrepresentative of the extent to which an action triggered bymanipulation of a cursor relative to a graphical object displayed on adisplay screen is occurring. The method includes associating (161) thelocation of the cursor in the display screen with a contact location ona touch screen, and providing (162) haptic feedback by way of the touchscreen, the haptic feedback having an extent corresponding to the extentof the action.

The invention is not limited to applications using a cursor. A graphicalobject displayed on a display of a computer for example, is manipulatedin size, position, orientation, color, and the like by a contact betweenthe user and a touch input device such as a touchpad or touch screen. Acharacteristic of the manipulation, such as its speed of translation, iscorrelated with a characteristic of the contact, such as the speed ofthe user's finger as it moves over the touch input device, and this isreflected in the manner the graphical object is displayed—that is, thespeed of the graphical object at it is translated in the graphicalenvironment displayed by the computer display may be set, at least inpart, in response to the speed of motion of the user's contact with thetouch input device. Moreover, the extend of the haptic feedback providedto the user by way of the touch screen for example is a function of thecharacteristic of the manipulation. Specifically, if a graphical objectis a scroll bar which is being moved by use of the touch screen, thenthe speed at which it is moved provides the basis for varying the hapticfeedback. If the feedback is repetitive clicks, then the faster thescroll bar widget is moved, the faster the clicks the clicks areimparted. The magnitude of the force can be varied in a similar manner,and characteristics other than speed, such as acceleration,deceleration, direction, and so forth can be used. Further, othergraphical objects can be manipulated in this manner. For example, withreference to FIG. 17, in a graphical game using a deck of cards 171displayed on a screen 172 and having an input device such as a sliding aslider switch 173 which, when actuated by the user, causes the portionof the screen 174 in which the deck of cards is displayed to display thecards one after the other in the same location, the rate at which onecard replaces the next can be made a function of the position of theslider 175 of the slider switch 173, and haptic feedback imparted to theslider switch can be function of that rate. A similar concept applies toa zoom function of a displayed image, or photo editing program in whichcolors are manipulated. A color palate can be displayed, and a change inthe position of the user's finger on the touch screen or touch pad wouldcause the addition or subtraction of a color component, and the rate ofthis addition or subtraction can be used to provide haptic feedbackwhose extent is commensurate with this rate change.

Thus in accordance with an aspect of the invention, there is provided amethod for providing haptic feedback in response to a manipulation of agraphical object. The method, described with reference to FIG. 18,includes correlating (181) a characteristic of the manipulation of thegraphical object with a characteristic of a contact of a touch screen,and imparting (182) a force to the touch screen at an extent whichvaries in accordance with the characteristic of the manipulation.

Touch screens often have scroll bars to display text in a limited viewwindow. When using a touch screen it is difficult for the user todetermine if there is engagement with the scroll bar when sliding updown, particularly if the user's attention is directed to a differentpart of the display screen, as is often necessary. In accordance with anembodiment of the present invention, a haptic effect can be continuouslyprovided as long as the user is engaged with the scroll bar anddiscontinued when the user is not engaged, either because of volition,moving the wrong direction, or by not pressing hard enough on a touchscreen or touch pad. Thus in accordance with another aspect of theinvention, there is provided a method for providing haptic feedbackrepresentative of the relative location of a cursor and a graphicalobject displayed on a display screen. This method, illustrated in FIG.19, includes associating (191) the location of the cursor in the displayscreen with a contact location on a touch screen, and providing (192)haptic feedback by way of the touch screen as long as the location ofthe cursor on the display screen assumes a predetermined relationship(193) with the location of the graphical object on the touch screen.Otherwise, the haptic feedback is terminated (194).

Furthermore, the magnitude of output forces on the touchpad can dependon the event or interaction in the graphical environment. For example,the force pulse can be a different magnitude of force depending on thetype of graphical object encountered by the cursor. For example, apulses of higher magnitude can be output when the cursor moves overwindows, while pulses of lower magnitude can be output when the cursormoves over icons. The magnitude of the pulses can also depend on othercharacteristics of graphical objects, such as an active window asdistinguished a background window, file folder icons of differentpriorities designated by the user, icons for games as distinguished fromicons for business applications, different menu items in a drop-downmenu, and the like. The user or developer can also preferably associateparticular graphical objects with customized haptic sensations.

User-independent events can also be relayed to the user using hapticsensations on the touchpad. An event occurring within the graphicalenvironment, such as an appointment reminder, receipt of email,explosion in a game, and the like, can be signified using a vibration,pulse, or other time-based force. The force sensation can be varied tosignify different events of the same type. For example, vibrations ofdifferent frequency can each be used to differentiate different eventsor different characteristics of events, such as particular users sendingemail, the priority of an event, or the initiation or conclusion ofparticular tasks (e.g., the downloading of a document or data over anetwork). When the host system is “thinking,” requiring the user to waitwhile a function is being performed or accessed (usually when a timer isdisplayed by the host) it is often a surprise when the function iscomplete. If the user takes his or her eyes off the screen, he or shemay not be aware that the function is complete. A pulse sensation can besent to indicate that the “thinking” is over.

A software designer may want to allow a user to be able to selectoptions or a software function by positioning a cursor over an area onthe screen using the touchpad, but not require pressing a physicalbutton or tapping the touchpad to actually select the option. Currently,it is problematic to allow such selection because a user has physicalconfirmation of execution when pressing a physical button. A pulse sentto the touchpad of the present invention can act as that physicalconfirmation without the user having to press a button or other controlfor selection. For example, a user can position a cursor over a web pageelement, and once the cursor is within the desired region for a givenperiod of time, an associated function can be executed. This isindicated to the user through a tactile pulse sent to the pad 16.

The above-described force sensations can also be used in games orsimulations. For example, a vibration can be output when auser-controlled racing car is driving on a dirt shoulder of a displayedroad, a pulse can be output when the car collides with another object,and a varying-frequency vibration can be output when a vehicle enginestarts and rumbles. The magnitude of pulses can be based on the severityof a collision or explosion, the size of the controlled graphical objector entity (and/or the size of a different graphical object/entity thatis interacted with), and the like. Force sensations can also be outputbased on user-independent events in the game or simulation, such aspulses when bullets are fired at the user's character.

The above haptic sensations can be similar to those described in U.S.Pat. Nos. 6,243,078 and 6,211,861. Other control devices or grips thatcan include a touchpad 16 of the present invention in its housinginclude a game pad, mouse or trackball device for manipulating a cursoror other graphical objects in a computer-generated environment; or apressure sphere or the like. For example, the touchpad 16 can beprovided on the housing of a computer mouse to provide additional inputto the host computer. Furthermore, selective disturbance filtering offorces, as described in U.S. Pat. No. 6,020,876, and shaping of forcesignals to drive the touchpad with impulse waves as described in U.S.Pat. No. 5,959,613, can be used with the present invention. Both ofthese aforementioned patent disclosures are hereby incorporated hereinby reference as if set forth fully herein. Such impulses are alsoeffective when driven with stored power in a battery on the computer 10or from a bus such as USB connected to a host computer.

FIG. 20 illustrates an actuator 100 for generating haptic effects inaccordance with one embodiment of the present invention useable inconnection with a touch screen apparatus. Actuator 100 includes twoL-shaped pole pieces 110, 112, first and second structural elements 102and 104 and first and second biasing elements 106 and 108. Pole pieces110, 112, may be made of standard magnetic steels with highpermeability, or other suitable ferromagnetic materials such as softmagnetic materials with high magnetic permeability (e.g., iron, nickel,magnetic alloys) or sintered materials such as ferrite, as are wellknown to those of ordinary skill in the art. They need not be made ofthe same material and they are further coupled to coils 114 a, 114 b toform electromagnetic devices (“magnetic device”). Coils 114 a, 114 b,which may be made of copper or other suitable electric conductors, arecoupled to one or more current sources for generating magnetic fieldswhen current passes through the coils 114 a, 114 b. In anotherembodiment one of the pole pieces need not include a coil as long, as itis formed of a ferromagnetic material.

Actuator 100 further includes structural elements 102, 104 and first andsecond biasing elements 106, 108 to form a frame for the actuator 100.It should be noted that structural elements 102, 104 and biasingelements 106, 108 can be manufactured out of a single piece of materialsuch as metal or plastic. Alternatively, structural elements 102, 104and biasing elements 106, 108 may be manufactured independently. Firststructural element 102, as shown in FIG. 20, includes apertures 120,122, which are used for coupling or fastening to a housing, a display ora touch-sensitive panel. Similarly, structural element 104 also containsapertures 124, 126 for similar coupling. Structural elements 102, 104are made of reasonably rigid materials, such as plastic, aluminum, andthe like, for providing physical support for the pole pieces 110, 112.Biasing elements 106, 108, which may be springs, flexure springs,flexible blades, flexible members, elastomeric components, foamcomponents, and the like, are made of elastic or relatively flexiblematerials that can be compressed and/or stretched within a predefinedrange. In one embodiment the biasing elements 106, 108 and structuralelements 102, 104 are made of a plastic material with the biasingelements formed to be made thinner (and hence more flexible) than thestructural elements.

Referring again to FIG. 20, pole pieces 110 and 112 are coupled tostructural elements 102 and 104, respectively. Pole piece 110 is placedadjacent to pole piece 112 with three magnetic gaps 140, 142 and 144between the pole pieces 110, 112. The width of the gap 144 situatedbetween the main bodies of the pole pieces 110, 112 is, in oneembodiment, in a range of about 1 to about 5 millimeters (“mm”). Thewidth of the gaps 140, 142 is in one embodiment, in a range of about0.25 to about 0.75 mm. Air pockets 130, 132, which can be of any shape,provide space for pole pieces 110, 112 to move. They are not required,however. Because gaps 140, 142 are much smaller than gap 144 theattractive magnetic force at gaps 140, 142 dominates over any attractiveforce across gap 144.

In operation, the biasing elements 106, 108 provide minimal force ifthere is no current passing through the coils 114 and the actuator is(accordingly) in a relaxed state. Under this no power condition, theactuator attains a first equilibrium position as shown, for example, inFIG. 20. When power is applied to coil(s) 114 a, 114 b an input currentpasses through the coil(s) creating magnetic flux lines 150 in the polepieces 110, 112 and across gaps 140, 142. This process acts to generatean attractive force or attractive magnetic force between the pole pieces110, 112 when the coils are wound so that the electromagnetic effects donot cancel one another. The term attractive force and attractivemagnetic force are used interchangeably herein. The attractive magneticforce acts against the biasing elements 106, 108 and pulls the polepieces 110, 112 closer together at the gaps 140, 142. In accordance withthe embodiment shown in FIG.20, under the attractive magnetic force,with structural element 102 held fixed, the pole piece 112 moves in adirection from right to left (as indicated by arrow 138) toward the polepiece 110. Pole piece 110, in this embodiment, may be fastened orsecured to structural element 102, which may be further secured to ahousing, touch-sensitive panel or display device. When one of the polepieces 110, 112 is displaced enough distance within the gaps 140, 142, asecond equilibrium position is reached as increasing spring force isapplied in an opposite direction by biasing elements 106, 108. Whenpower is then reduced or removed, the biasing elements 106, 108 forcethe pole pieces 110, 112 back to their original no-power position, alsoknown as the first equilibrium position as described earlier.

It should be noted that the attractive force can be manipulated byvarying an amount of current passing through the coils 114 a, 114 b.Accordingly, the acts of varying the magnitude, duration and pulserepetition of current passing through the coils 114 a, 114 b can be usedto vary the level and quality of sensation provided by the hapticeffect. It should be further noted that the haptic effect, which is alsoknown as tactile, force feedback or haptic sensation, can be a pulse,vibration, spatial texture, weight or other physical properties sensiblethrough feeling and touch. The term haptic effect and haptic sensationwill be used interchangeably herein.

The present invention allows a user to manipulate the frequency of themovements between the pole pieces 110, 112 by adjusting the periodicityof applied input current. The input current means a current passingthrough the coils 114 a, 114 b for generating magnetic fields andmagnetic flux in the pole pieces 110, 112 and across the magnetic gaps140, 142. It should be noted that input currents having differentwaveform shapes will produce different haptic effect; when an inputcurrent is in a square waveform, the haptic effect will be differentthan when the input current waveform has a sinusoidal shape. In oneembodiment, the frequency of haptic effects may have a range betweenabout 40 and about 300 Hertz (Hz).

An advantage of using such a magnetic circuit with an actuator 100 asdescribed above is to efficiently generate force. Unlike other methods,a permanent magnet is not required to implement the present invention.One could be included to add a small magnetic bias to the magneticcircuit, however. Another advantage of actuator 100 is that it may bemade very compact in size. For example, in one embodiment actuator 100may be about 1.5 inches long, 0.6 inches high and 0.3 inches deep.Depending on the orientation of the actuator 100 with respect to atouch-sensitive panel, it can excite either in-plane or out-of-planemotion between the touch-sensitive panel and the display device forhaptic sensation. It should be noted that the L-shaped pole pieces asillustrated in FIG. 20 represent merely one embodiment and otherarrangements of the pole pieces may also be used although the L-shapedpole pieces are believed to be relatively space efficient for thisapplication.

FIG. 21 illustrates two alternative embodiments of electromagnetcomponents 200 and 220 capable of generating attractive magnetic forcein accordance with the present invention. Electromagnet component 200includes a C-shaped pole piece 202, an I-shaped pole piece 204, and asingle coil 206. Pole pieces 202, 204 may be made of any suitableferromagnetic materials as discussed above.

C-shaped pole piece 202 is placed adjacent to pole piece 204 with twogaps 208. The width of the gap 208 is approximately 0.5 mm. When theinput current passes through the coils 206, a magnetic flux 210 isgenerated. Magnetic flux 210 generates the attractive magnetic forcebetween the pole pieces 202, 204. The attractive magnetic force causesthe pole piece 204 to move closer to the pole piece 202. Alternatively,the attractive magnetic force can cause pole piece 202 to move closer topole piece 204 if pole piece 204 is relatively fixed. Haptic effects maybe generated by the movements caused by the attractive magnetic forcebetween the pole pieces 202, 204.

Electromagnet component 220 includes an E-shaped pole piece 222, anI-shaped pole piece 224, and a coil 226. Pole pieces 222, 224 may beconstructed as discussed above. E-shaped pole piece 222 is placedadjacent to the I-shaped pole piece 224 with a gap 228. The width of thegap 228 is approximately 0.5 mm. When the input current passes throughcoils 226, magnetic flux lines 230 are generated. Magnetic flux lines230 cause an attractive magnetic force between pole pieces 222, 224. Theattractive magnetic force causes pole piece 224 to move closer to polepiece 222 and effectively narrow the width of the gap 228. In anotherembodiment, the attractive magnetic force causes the pole piece 222 tomove closer to pole piece 224 if pole piece 224 is fastened to housing.A haptic effect may be generated by movements between the pole pieces.

FIG. 22 is an actuator 300 illustrating an alternative embodiment of theactuator illustrated in FIG. 20 in accordance with one embodiment of thepresent invention. Actuator 300 includes two L-shaped pole pieces 110,112, structural elements 102, 104, and biasing element 302. Pole pieces110, 112 are further coupled to coils. 114 a, 114 b to form magneticdevices. Coils 114 a, 114 b are coupled to one or more current sourcesfor causing magnetic flux in pole pieces 110, 112.

Actuator 300 further includes structural elements 102, 104 and biasingelement 302 to form a frame. It should be noted that structural elements102, 104 and biasing element 302 can be manufactured at the same timeand on a single frame. Alternatively, structural elements 102, 104 andbiasing element 302 may be formed as separate structures that are thenassembled together. Structural elements 102, 104 are fabricated ordiscussed above to provide physical support for the pole pieces 110,112. Biasing element 302, which may be formed as described above, ismade of an elastic material that may be compressed or stretched within apredefined range. Referring to FIG. 22, it should be noted that biasingelement 302 may be located anywhere as long as it is coupled withstructural elements 102, 104 and provides its biasing or spring functionin opposition to the attractive gap-closing magnetic force of themagnetic devices.

FIG. 23 is an alternative embodiment of an actuator 400 in accordancewith one embodiment of the present invention. Actuator 400 includes twoL-shaped pole pieces 110, 112, structural elements 102, 104, and biasingelements 402, 404. Pole pieces 110, 112 are further coupled to coils 114a, 114 b to form magnetic devices. Coils 114 a, 114 b are coupled to oneor more current sources for creating magnetic flux in pole pieces 110,112.

Actuator 400 further includes structural elements 102, 104 and biasingelements 402, 404 to form a frame that allows some movements between thestructural elements 102, 104. It should be noted that structuralelements 102, 104 and biasing elements 402, 404 are manufacturedseparately and they need to be assembled to form a frame. Structuralelements 102, 104 are made of rigid materials, such as plastic, steel,aluminum, and so forth, to provide physical support for the pole pieces110, 112. Biasing elements 402, 404 may be implemented as discussedabove and may be made of elastic materials that can be compressed orstretched within a predefined range. Referring to FIG. 23, it should benoted that any type of biasing element may be used as long as itfacilitates movement between the pole pieces 110, 112 and may bearranged to counter the attractive gap-closing force of the magneticdevices.

FIG. 24 illustrates a system having an actuator 100 in accordance withone embodiment of the present invention. The system includes a case 502,a touch-sensitive panel 504, and an actuator 100. Actuator 100 includestwo L-shaped pole pieces 110, 112, structural elements 102, 104, andbiasing elements 106, 108. Pole pieces 110, 112 are further coupled tocoils 114 a, 114 b to form magnetic devices. Coils 114 a, 114 b arecoupled to one or more current sources for creating magnetic flux inpole pieces 110, 112. Biasing elements 106, 108 may be implemented asdiscussed above and may be made of elastic materials that may becompressed or stretched within a predefined range.

Referring to FIG. 24, one side of actuator 100 is coupled to the case502 while another side of actuator 100 is coupled to the touch-sensitivepanel 504. Structural element 102, as shown in FIG. 24, is fastened tothe case 502. In this embodiment, the case 502 is rigid and does notmove easily. In one embodiment, apertures 120, 122 may be used byfasteners to couple the structural element 102 to the case 502.Structural element 104 is, in turn fastened to a touch-sensitive panel504. Touch-sensitive panel 504, in one embodiment, may be made ofrelatively flexible transparent materials. In one embodiment, holes 124,126 may be used to fasten the structural element 104 to thetouch-sensitive panel 504.

When power is applied and input current begins to pass through the coils114 a, 114 b, the attractive gap-closing force between pole pieces 110and 112 starts to increase. The attractive force causes the pole piece112 to be attracted to the pole piece 110 where pole piece 110 is heldfixed. Pole piece 112 begins to move toward the pole piece 110 to closethe gaps 140, 142 until it reaches a second equilibrium position asillustrated in FIG. 25. When power is reduced or removed, the attractiveforce between pole pieces 110 and 112 begins to reduce and consequently,the pole piece 112 begins to move back to its original position inresponse to the return force provided by the biasing elements 106, 108.The biasing elements 106, 108 continue to force the pole piece 112 tomove back until it reaches the first equilibrium position as shown inFIG. 20. The movements between the pole pieces 110, 112 cause similarmovements between the structural elements 102, 104. In one embodiment,the movements between the structural elements 102, 104 generate hapticeffects or haptic sensation. Since touch-sensitive panel 504 is fastenedto structural element 104, haptic effects on the touch-sensitive panel504 occur when the movement between the structural elements 102, 104occurs. Depending on the orientation of the actuator 100 with respect tothe touch-sensitive panel 504, haptic effects may excite either in-planeor out-of-plane motion with respect to the touch-sensitive panel 504.

FIG. 26 illustrates, in a somewhat exaggerated manner to improvevisibility, a second equilibrium position of an actuator 600 inaccordance with one embodiment of the present invention. Actuator 600,which is similar to actuator 100, includes two L-shaped pole pieces 110,112, structural elements 102, 104, and biasing elements 602, 604. Polepieces 110, 112 are further coupled to coils 114 a, 114 b to formmagnetic devices. Coils 114 a, 114 b are coupled to one or more currentsources for generating magnetic flux in pole pieces 110, 112.

When power is off, the biasing elements 602, 604 provide minimal forceto keep the actuator 600 in the first equilibrium position as describedand shown in FIG. 20. When power is on, the input current passes throughthe coils 114 and generates magnetic flux in the pole pieces 110, 112.Magnetic flux causes an attractive magnetic force between the polepieces 110, 112 across gaps 140,142. The attractive magnetic force actsagainst the biasing elements 602, 604 and pulls the pole pieces 110, 112closer together at the gaps 140, 142. Pole piece 110, in thisembodiment, may be secured to a case via the structural element 102,while pole piece 112 is secured to a touch-sensitive panel via thestructural element 104. The attractive magnetic force causes the polepiece 112 to move from right to left (as indicated by 138) toward thepole piece 110. When the pole piece 110 is displaced enough distance, asecond equilibrium position is reached as shown in FIG. 25. When poweris reduced or removed, the biasing elements 602, 604 force the polepiece 112 back to the first equilibrium position as discussed earlier.

FIG. 26 illustrates a system configuration having an actuator inaccordance with one embodiment of the present invention. The systemconfiguration includes a touch-sensitive panel or touch screen 702, adisplay panel 704, and a case 706. Touch-sensitive panel 702, in oneembodiment, is made of substantially transparent materials, and iscapable of transmitting light so that objects or images displayed in thedisplay 704 may be seen through the touch-sensitive panel 702. Thedisplay 704 can be any type of display such as a cathode ray tube (CRT),liquid crystal display (LCD), plasma display, flat panel display or thelike or could even be a static illustration. Both touch-sensitive panel702 and display 704 may be installed in the case 706. In an alternativeembodiment, the touch-sensitive panel 702 and the display 704 may belocated separately with the actuator mounted between the touch-sensitivepanel 702 and a relatively fixed location so that haptic effects areprovided to the touch-sensitive panel but the display is locatedelsewhere.

In one embodiment, touch-sensitive panel 702 is further divided intovarious regions 720 and the regions are further separated by borders722. Touch-sensitive panel 702 accepts a user's selection when only aregion 720 is touched. Conversely, touch-sensitive panel 702 rejects auser's selection when a border 722 is touched. Touch-sensitive panel 702further includes four actuators 710 and, depending on their orientation,actuators 710 can excite either in-plane or out-of-plane motion withrespect to the touch-sensitive panel 702 for haptic sensation. Actuators710 may be installed to move touch-sensitive panel for relative todisplay 704.

FIG. 27 is a flow diagram illustrating a method for generating a hapticeffect in accordance with one embodiment of the present invention. Aprocess for generating haptic sensation starts at block 802. In oneembodiment, the process can be activated by a user who touches atouch-sensitive panel possibly in a predetermined location or locations.In another embodiment, the process is activated by a touch signal orcontact signal sent by the touch-sensitive panel, which indicates that aselection has been made by a user.

At block 804, the process receives a contact signal from thetouch-sensitive, which may be sent by a touch-sensitive panel accordingto a selection made by a user. In another embodiment, a computer orcontroller sends a contact signal. Upon receipt of the contact signal,the process moves to the next block 806.

At block 806, the process instructs a controller to provide an inputcurrent according to the contact signal. In one embodiment, the inputcurrent is passing through at least one electromagnet device of anactuator to generate magnetic flux in a pair of pole pieces.

At block 808, the magnetic flux creates attractive magnetic forcebetween the electromagnet devices which opposes a biasing force impartedby biasing elements arranged to counter the attractive magnetic force.The attractive magnetic force causes the pole pieces of theelectromagnet devices to attract to each other. The process moves to thenext block.

At block 810, the attractive magnetic force creates a movement betweenthe electromagnet devices. In one embodiment, one pole piece of oneelectromagnet device is physically moved closer to another pole piece ofanother electromagnet device.

At block 812, the current is removed.

At block 814, a biasing element provides a bias force or return force tocontrol the movement between the electromagnet devices within apredefined range. When the power is reduced or turned off in block 812,the pole pieces of electromagnet devices move back to their originalpositions.

With turning on and off the power continuously, a continuous movementbetween the electromagnet devices is created. Accordingly, the hapticeffect is generated in response to the movement between theelectromagnet devices. It should be noted that the frequency andamplitude of the movements between the electromagnet devices can becontrolled by controlling the input current.

FIG. 28 is a block diagram illustrating a system having an actuator inaccordance with one embodiment of the present invention. The systemincludes a computer or central processing unit (CPU) 906 withappropriate interfaces 908 to a memory 910 for storing program steps forcontrolling the processor 906, 912 for controlling a display device 914,916 for communicating with a touch-sensitive panel 918 and 920 fordriving an amplifier circuit (if required) which in turn drives actuator924. Actuator 924 is arranged to create relative movement betweendisplay device 914 and touch-sensitive panel 918. The relative movementmay be in the plane of the touch-sensitive panel, out of the plane ofthe touch-sensitive panel, or same combination of the two. When thetouch panel 904 is touched or depressed, it sends a contact signal tocomputer 906 via connection 926. The contact signal indicates that thetouch panel has been selected or touched. Computer 906, which can be anygeneral purpose computer operating under the control of suitablesoftware and for firmware, is coupled to amplifier 922 via connection928 and instructs amplifier 922 to provide input current to the actuator924 over connection 930. Upon receipt of an instruction from thecomputer 906, amplifier 922 provides an input current to the actuator924 via connection 930. Actuator 924 provides a haptic sensation oreffect to the touch-sensitive panel 918. The processor 906 (or,potentially, another device (not shown) provides a display image orimage to display device 914.

Turning finally to FIGS. 29, 30 and 31, these figures illustrate howareas of a touch pad and/or a touch screen or other similar touch inputdevice may be utilized. In each of the figures areas of the touchsensitive surface of the touch input device are associated withparticular inputs. In FIG. 29, a “+” area and a “−” area are provided.This could be used, for example, to zoom in (+) or zoom out (−) in agraphical environment having a pictorial representation of an image.FIG. 30 illustrates a version with “+X”, “−X”, “+Y” and “−Y” which couldbe used to translate an object or to rotate an object, or to otherwiseinteract with a graphically depicted object, as desired. Finally, FIG.31 provides a similar arrangement to that shown in FIG. 30, however,intermediate values (e.g., some −X and some +Y at the same time) may beinput in an intuitive manner. In some embodiments, these areas alongwith some indication as to what they are intended to control at a givenpoint in time may be displayed on a touch screen and haptic feedbackprovided to the user indicative of rates of input, boundaries andsimilar conditions in the graphical environment, and the like.

While this invention has been described in terms of several preferredembodiments, it is contemplated that alterations, permutations, andequivalents thereof will become apparent to those skilled in the artupon a reading of the specification and study of the drawings. Forexample, many different types of actuators can be used to output tactilesensations to the user. Furthermore, many of the features described inone embodiment can be used interchangeably with other embodiments.Furthermore, certain terminology has been used for the purposes ofdescriptive clarity, and not to limit the present invention. Theinvention, therefore, is not to be restricted except in the spirit ofthe appended claims.

1. A haptic feedback touch control for inputting signals to a computer and for outputting forces to a user of the touch control, the touch control comprising: a touch input device including a touch surface operative to input a position signal to a processor of said computer based on a location on said touch surface which said user contacts; and at least one actuator coupled to said touch input device, said actuator outputting a force on said touch input device to provide a haptic sensation to said user contacting said touch surface, wherein said actuator outputs said force based on a single-discontinuity waveform.
 2. The haptic feedback touch control of claim 1, wherein the single-discontinuity waveform is associated with one of a button press or button release.
 3. The haptic feedback touch control of claim 2, further comprising moving the touch screen in accordance with a second single-continuity waveform associated with the other of the button press or button release.
 4. The control of claim 3, wherein the first second single-continuity waveforms are different from one another.
 5. The control of claim 3, wherein the first second single-continuity waveforms are substantially identical to one another.
 6. The haptic feedback touch control of claim 1, wherein the single-discontinuity waveform is symmetrical.
 7. The haptic feedback touch control of claim 1, wherein the single-discontinuity waveform is asymmetrical.
 8. The haptic feedback touch control of claim 1, wherein the touch surface is a touchscreen.
 9. The haptic feedback touch control of claim 1, wherein the touch surface is a touchpad.
 10. The haptic feedback touch control of claim 1, wherein said contact is effected by a body portion of an operator.
 11. The haptic feedback touch control of claim 1, wherein said contact is effected by a stylus manipulated by an operator.
 12. The haptic feedback touch control of claim 1, wherein the actuator comprises: a first structural element having mounting structure mountable to a first component; a second structural element having mounting structure mountable to a second component; a first biasing element coupling the first structural element to the second structural element; a first magnetic device carried by the first structural element, the first magnetic device including a first pole piece; and a second magnetic device carried by the second structural element, the second magnetic device including a second pole piece; a first coil disposed about at least one of said first pole piece and said second pole piece; wherein the first biasing element is arranged to provide a biasing force opposing an attractive magnetic force urging the first and second pole pieces together when current is applied to the first coil and electric current applied to the first coil causes a haptic effect to be generated between the first component on the second component.
 13. The haptic feedback touch control of claim 12, wherein the second magnetic device includes a second coil disposed about at least one of said first pole piece and said second pole piece.
 14. The haptic feedback touch control of claim 12, further comprising a second biasing element, wherein the second biasing element is arranged to provide a biasing force opposing an attractive magnetic force urging the first and second pole pieces together when current is applied to the first coil.
 15. The haptic feedback touch control of claim 12, wherein the first biasing element comprises a spring.
 16. The haptic feedback touch control of claim 12, wherein the first biasing element comprises an elastomeric element.
 17. The haptic feedback touch control of claim 12, wherein the first biasing element comprises a foam material.
 18. The haptic feedback touch control of claim 12, wherein the first and second structural element and the first biasing element are all formed from the same material and the first biasing element is formed thinner than the first and second structural elements so that it is free to flex when perturbed.
 19. A haptic feedback touch control for inputting signals to a computer and for outputting forces to a user of the touch control, the touch control comprising: a touch input device including a touch surface operative to input a position signal to a processor of said computer based on a location on said touch surface which said user contacts, said location being associated with a location of a cursor displayed on a display screen upon which a graphical object is also displayed; and at least one actuator coupled to said touch input device, said actuator outputting a force on said touch input device to provide a haptic sensation to said user contacting said touch surface, wherein said actuator outputs said force as long as the location of the cursor on the display screen assumes a predetermined relationship with the location of the graphical object on the touch screen.
 20. The haptic feedback touch control of claim 19, wherein the predetermined relationship is coincidence of location.
 21. The haptic feedback touch control of claim 19, wherein the actuator comprises: a first structural element having mounting structure mountable to a first component; a second structural element having mounting structure mountable to a second component; a first biasing element coupling the first structural element to the second structural element; a first magnetic device carried by the first structural element, the first magnetic device including a first pole piece; and a second magnetic device carried by the second structural element, the second magnetic device including a second pole piece; a first coil disposed about at least one of said first pole piece and said second pole piece; wherein the first biasing element is arranged to provide a biasing force opposing an attractive magnetic force urging the first and second pole pieces together when current is applied to the first coil and electric current applied to the first coil causes a haptic effect to be generated between the first component on the second component.
 22. The haptic feedback touch control of claim 21, wherein the second magnetic device includes a second coil disposed about at least one of said first pole piece and said second pole piece.
 23. The haptic feedback touch control of claim 21, further comprising a second biasing element, wherein the second biasing element is arranged to provide a biasing force opposing an attractive magnetic force urging the first and second pole pieces together when current is applied to the first coil.
 24. The haptic feedback touch control of claim 21, wherein the first biasing element comprises a spring.
 25. The haptic feedback touch control of claim 21, wherein the first biasing element comprises an elastomeric element.
 26. The haptic feedback touch control of claim 21, wherein the first biasing element comprises a foam material.
 27. The haptic feedback touch control of claim 21, wherein the first and second structural element and the first biasing element are all formed from the same material and the first biasing element is formed thinner than the first and second structural elements so that it is free to flex when perturbed.
 28. A haptic feedback touch control for inputting signals to a computer and for outputting forces to a user of the touch control, the touch control comprising: a touch input device including a touch surface operative to input a position signal to a processor of said computer based on a location on said touch surface which said user contacts, said location being associated with a location of a cursor displayed on a display screen upon which a graphical object is also displayed; and at least one actuator coupled to said touch input device, said actuator outputting a force on said touch input device to provide a haptic sensation to said user contacting said touch surface, wherein said actuator outputs said force based on an extent to which an action is triggered by a relative location of the cursor and the graphical object.
 29. The haptic feedback touch control of claim 28, wherein the action is scrolling.
 30. The haptic feedback touch control of claim 28, wherein the haptic feedback is based on a repetitive waveform whose frequency increases corresponding to the extent of the action.
 31. A device for simulating a button press using haptic feedback imparted through a touch surface, comprising: means for sensing a contact with said touch surface; and means for moving the touch screen responsive to said contact in accordance with a first single-discontinuity waveform.
 32. A device for providing haptic feedback representative of the relative location of a cursor and a graphical object displayed on a display screen, comprising: means for associating the location of the cursor in the display screen with a contact location on a touch screen; and means for providing haptic feedback by way of the touch screen as long as the location of the cursor on the display screen assumes a predetermined relationship with the location of the graphical object on the touch screen.
 33. A device for providing haptic feedback representative of the extent to which an action triggered by manipulation of a cursor relative to a graphical object displayed on a display screen is occurring comprising: means for associating the location of the cursor in the display screen with a contact location on a touch screen; and means for providing haptic feedback by way of the touch screen, said haptic feedback having an extent corresponding to the extent of the action.
 34. A device for providing haptic feedback in response to a manipulation of a graphical object, comprising: means for correlating a characteristic of the manipulation of the graphical object with a characteristic of a contact of a touch screen; and means for imparting a force to the touch screen at an extent which varies in accordance with the characteristic of the manipulation.
 35. A haptic feedback touch control for inputting signals to a computer and for outputting forces to a user of the touch control, the input signals manipulating a graphical object, the touch control comprising: a touch input device including a touch surface operative to input a position signal to a processor of said computer based on a location on said touch surface which said user contacts; and at least one actuator coupled to said touch input device, said actuator outputting a force on said touch input device to provide a haptic sensation to said user contacting said touch surface, said force being a function of a characteristic of the manipulation of a graphical object, which is a function of a characteristic of the contact by said user.
 36. The haptic feedback touch control of claim 35, wherein the characteristic of the manipulation is one or more of speed, acceleration, or deceleration.
 37. The haptic feedback touch control of claim 36, wherein the force is repetitive and increases in frequency and/or magnitude with said one or more of speed, acceleration or deceleration.
 38. The haptic feedback touch control of claim 35, wherein the force is repetitive and increases in frequency and/or magnitude based on the characteristic of the manipulation.
 39. The haptic feedback touch control of claim 35, wherein the graphical object assumes multiple forms, and the characteristic of said manipulation is the rate at which said forms are assumed.
 40. The haptic feedback touch control of claim 39, wherein the force is repetitive and increases in frequency and/or magnitude based on said rate.
 41. The haptic feedback touch control of claim 35, wherein said graphical object is a scroll bar.
 42. The haptic feedback touch control of claim 35, wherein said characteristic of a contact is the location of the contact.
 43. The haptic feedback touch control of claim 35, wherein said characteristic of a contact is pressure imparted by the contact.
 44. The haptic feedback touch control of claim 35, wherein said characteristic of a contact is a rate of change of contact position.
 45. The haptic feedback touch control of claim 35, wherein said characteristic of a contact is a rate of change of contact speed.
 46. The haptic feedback touch control of claim 35, wherein said characteristic of a contact is a rate of change of contact location.
 47. The haptic feedback touch control of claim 35, wherein the actuator comprises: a first structural element having mounting structure mountable to a first component; a second structural element having mounting structure mountable to a second component; a first biasing element coupling the first structural element to the second structural element; a first magnetic device carried by the first structural element, the first magnetic device including a first pole piece; and a second magnetic device carried by the second structural element, the second magnetic device including a second pole piece; a first coil disposed about at least one of said first pole piece and said second pole piece; wherein the first biasing element is arranged to provide a biasing force opposing an attractive magnetic force urging the first and second pole pieces together when current is applied to the first coil and electric current applied to the first coil causes a haptic effect to be generated between the first component on the second component.
 48. The haptic feedback touch control of claim 47, wherein the second magnetic device includes a second coil disposed about at least one of said first pole piece and said second pole piece.
 49. The haptic feedback touch control of claim 47, further comprising a second biasing element, wherein the second biasing element is arranged to provide a biasing force opposing an attractive magnetic force urging the first and second pole pieces together when current is applied to the first coil.
 50. The haptic feedback touch control of claim 47, wherein the first biasing element comprises a spring.
 51. The haptic feedback touch control of claim 47, wherein the first biasing element comprises an elastomeric element.
 52. The haptic feedback touch control of claim 47, wherein the first biasing element comprises a foam material.
 53. The haptic feedback touch control of claim 47, wherein the first and second structural element and the first biasing element are all formed from the same material and the first biasing element is formed thinner than the first and second structural elements so that it is free to flex when perturbed. 